Event-triggered simultaneous attack cooperative guidance method in line-of-sight direction

Abstract

The application provides an event-triggered simultaneous attack cooperative guidance method along a line-of-sight direction, comprising the following steps: constructing a consistency error of a remaining flight distance; constructing a consistency error of a radial relative speed; designing a guidance command along the line-of-sight direction according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed; designing an event-triggering mechanism according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed; and updating the guidance command on a trigger time sequence according to the event-triggering mechanism to realize the simultaneous attack cooperative guidance along the line-of-sight direction. The technical scheme of the application can avoid the decrease of guidance precision caused by the estimation error of the remaining time and solve the technical problem of resource waste caused by the frequent update of the guidance command in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control, in particular, to an event-triggered simultaneous attack along line-of-sight direction cooperative guidance method. BACKGROUND

[0002] In recent years, the multi-layer defense system of missiles is becoming more and more perfect, and the target mobility is enhanced, so it is more and more difficult to use traditional single-missile to break through the target. In this case, the concept of cooperative guidance is proposed as an effective countermeasure to enhance the missile penetration capability. In addition to achieving smaller or even zero miss distance, the cooperative guidance law needs to meet the constraints in the time dimension to improve the lethality of multiple missiles.

[0003] Time cooperative guidance refers to multiple missiles attacking the target at the same time, which can be achieved by two methods. The first method is called impact time control guidance (ITCG), which requires all missiles to attack the target at a pre-specified common impact time. However, it is difficult to assign appropriate common impact times in advance for multiple missiles under different initial conditions. In the second method, multiple missiles coordinate their launch times to reach a consensus, and through a communication topology to achieve simultaneous attack. In this method, the explicit expression of time estimation is used for time cooperative guidance. However, due to large initial heading errors, it is challenging to accurately estimate the remaining time. The missile flies in a nonlinear three-dimensional (3-D) environment, for example, when the missile is flying on an aircraft, where the line-of-sight (LOS) angle and angular rate can be very large. In this case, the accuracy of the guidance law based on the small angle assumption will be sharply degraded. Therefore, the cooperative guidance law of the prior art uses the estimation of time as a consensus variable, and the estimation error of the remaining time will significantly affect the accuracy of time cooperative guidance. In addition, the target of the prior art research is static, not mobile, and unknown target mobility and external disturbances will also reduce the performance of cooperative guidance. More importantly, the multiple missile system is a network framework, which requires limited resources such as maneuvering energy, computing power, and processor memory.

[0004] The cooperative guidance law of the prior art requires the cooperative guidance command to be constantly updated with periodically transmitted input signals, which is called time-triggered guidance. The guidance command of the conventional time-triggered guidance will be updated at periodic sampling time. The sampling period of the guidance system is a constant, and even if the single-eye combat state changes can be ignored or has no effect on the guidance performance, the time-triggered guidance command may be constantly updated. Even if the coordination variable does not change significantly, the high update frequency of the guidance command will waste computing resources. Therefore, the conventional time-triggered guidance will generate excessive redundant adjustments, and the time-triggered guidance requires heavy computing burden and transmission load in the controller-to-actuator channel. Thus, the computing resources are wasted. SUMMARY

[0005] The main purpose of the present application is to provide an event-triggered simultaneous attack cooperative guidance method along the line-of-sight direction to solve the technical problem of resource waste caused by frequent updating of guidance commands in the prior art.

[0006] The present application provides an event-triggered simultaneous attack cooperative guidance method along the line-of-sight direction, comprising the following steps:

[0007] The consistency error of the remaining flight distance is constructed; the consistency error of the radial relative speed is constructed; the guidance command along the line-of-sight direction is designed according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed; the event trigger mechanism is designed according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed; and the guidance command is updated on the trigger time sequence according to the event trigger mechanism, so as to realize the simultaneous attack cooperative guidance along the line-of-sight direction.

[0008] Further, the expected consistency radial relative speed is constructed according to the consistency error of the remaining flight distance; the speed tracking error is constructed according to the expected consistency radial relative speed; and the guidance command along the line-of-sight direction is designed according to the consistency error of the remaining flight distance, the consistency error of the radial relative speed and the speed tracking error.

[0009] Further, the guidance command along the line-of-sight direction

[0010]

[0011] Wherein, a Mri (t) is the guidance command along the line-of-sight direction of the i th missile, r i (t) is the relative distance between the i th missile and the target, q εi (t) is the line-of-sight angle of the i th missile along the line-of-sight height direction, q βi (t) is the line-of-sight angle of the i th missile along the line-of-sight azimuth direction, α r1 , α r2 , α r3 , α r4 and μ r are all normal numbers, b r and c r are two positive odd numbers satisfying b r / c r > 2, Γ i (t) is the consistency error of the remaining flight distance of the i th missile, t is the current time, is the trigger time closest to the current time of the i th missile, and is the next trigger time of i (t) is the consistency error of the radial relative speed of the i th missile, evri (t) is the radial velocity tracking error of the i-th missile, p r and g r are two positive odd numbers satisfying p r / g r >1.

[0012] Further, the consistency error of the remaining flight distance wherein i is a positive integer, j is a positive integer, i∈[1,N], j∈[1,N], N is the total number of missiles, r j (t) is the relative distance between the j-th missile and the target, a ij =1 when the missiles can detect each other, otherwise a ij =0.

[0013] Further, v ri (t) is the radial relative velocity of the i-th missile, v rj (t) is the radial relative velocity of the j-th missile.

[0014] Further, the expected consistency radial relative velocity is the expected consistency radial relative velocity of the i-th missile, is a constant.

[0015] Further, the radial velocity tracking error

[0016] Further, the consistency error of the remaining flight distance and the consistency error of the radial relative velocity design an event trigger mechanism, which specifically includes: constructing a trigger error according to the consistency error of the remaining flight distance, the consistency error of the radial relative velocity and the radial velocity tracking error; and designing an event trigger mechanism according to the velocity tracking error and the trigger error.

[0017] Further, the trigger error

[0018]

[0019] wherein Θ ri (t) is the trigger error between the latest trigger state and the current state of the i-th missile.

[0020] Further, the trigger mechanism is η r is a constant, and satisfies 0<η r <1.

[0021] The present application has the advantages and beneficial effects that:

[0022] The application provides an event-triggered simultaneous attack cooperative guidance method in a line-of-sight direction, which directly uses a consistent error of a remaining distance and a radial relative velocity as a coordination variable, and can avoid a decrease in guidance accuracy caused by a remaining time estimation error. The event-triggered cooperative guidance method is adopted, the cooperative guidance command is not updated and remains unchanged before the trigger condition is met, the update frequency of the guidance command can be greatly reduced, the limited resources of a multi-missile system are saved, resource consumption is reduced, the method has high stability, and good guidance performance is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 An event-triggered simultaneous attack cooperative guidance method principle schematic diagram is provided according to a specific embodiment of the application.

[0024] Figure 2 An event-triggered simultaneous attack cooperative guidance method trigger times and a time-triggered simultaneous attack cooperative guidance method trigger times comparison diagram is provided according to a specific embodiment of the application. DETAILED DESCRIPTION

[0025] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, and is by no means any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor are within the protection scope of the present application.

[0026] Step 1, constructing a consistent error of a remaining flight distance Wherein, Γ i (t) is a consistent error of a remaining flight distance of the i th missile, i ∈ [1, N], j is a positive integer, i ∈ [1, N], j ∈ [1, N], N is the total number of missiles, r i (t) is a relative distance between the i th missile and the target, r j (t) is a relative distance between the j th missile and the target, a ij = 1 when the missiles can detect each other, otherwise a ij = 0, t is the current time.

[0027] By using this configuration, the consistency error of the remaining flight distance is constructed to describe whether the cooperative guidance is achieved. When the consistency error of the remaining flight distance of all the missiles is zero, it is considered that the multiple missiles can achieve the simultaneous attack of the maneuvering target. The remaining distance is taken as the variable of the time-to-go cooperative guidance, and the remaining distance can be obtained by direct measurement, thereby avoiding the estimation error, achieving the strict simultaneous attack, avoiding the precision decline due to the estimation error of the remaining time, and being applicable to the maneuvering target and maintaining the stability.

[0028] After step 1 is completed, in order to measure whether the speed of each missile reaches consistency, step 2 is entered to construct the consistency error of the radial relative speed Wherein, Λ i (t) is the consistency error of the radial relative speed of the i th missile, v ri (t) is the radial relative speed of the i th missile, v rj (t) is the radial relative speed of the j th missile.

[0029] By using this configuration, the consistency error of the radial relative speed is constructed, the relative speed along the line-of-sight direction is taken as the variable of the time-to-go cooperative guidance, and whether the speed of each missile reaches consistency is measured, and is used for designing the guidance command and the triggering condition. The relative speed along the line-of-sight direction is taken as the variable of the time-to-go cooperative guidance, the relative speed along the line-of-sight direction can be obtained by direct measurement, thereby avoiding the estimation error, achieving the strict simultaneous attack, avoiding the precision decline due to the estimation error of the remaining time, and being more accurate than the traditional synchronous remaining time method. Meanwhile, it is applicable to the maneuvering target and can maintain the stability.

[0030] After step 2 is completed, in order to design the guidance command along the line-of-sight direction, step 3 is entered to design the guidance command along the line-of-sight direction according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed, and specifically includes:

[0031] Step 301, constructing the expected consistency radial relative speed according to the consistency error of the remaining flight distance Wherein, is the expected consistency radial relative speed of the i th missile, α r1 , α r2 and μ r are all normal numbers, b r and c r are two positive odd numbers satisfying b r / c r > 2, is the average value of the initial radial relative speed;

[0032] Step 302, constructing a velocity tracking error according to the expected consistent radial relative velocity

[0033] wherein e vri (t) is the velocity tracking error of the i th missile.

[0034] By using this configuration, the expected consistent radial relative velocity is constructed so that different missiles can reach the expected same radial relative velocity within a fixed time, and the velocity tracking error is constructed to measure the deviation of the current velocity from the expected consistent radial relative velocity.

[0035] Step 303, designing a guidance command in the line-of-sight direction according to the consistent error of the remaining flight distance, the consistent error of the radial relative velocity, and the velocity tracking error

[0036]

[0037] wherein a Mri (t) is the guidance command in the line-of-sight direction of the i th missile, q εi (t) is the line-of-sight angle of the i th missile in the line-of-sight high-low direction, q βi (t) is the line-of-sight angle of the i th missile in the line-of-sight azimuth direction, a r3 , a r4 are all normal numbers, and i (t) is the consistent error of the remaining flight distance of the i th missile, is the trigger time closest to the current time of the i th missile, and is the next trigger time of , p r and g r are two positive odd numbers satisfying p r / g r > 1.

[0038] By using this configuration, the guidance command a Mri (t) makes the radial relative velocities v ri (t) of multiple missiles consistent within a fixed time, and by designing the guidance command in the line-of-sight direction, the remaining distance and the velocity along the line-of-sight (LOS) are used as variables for coordinated time-coordinated guidance, achieving strict simultaneous attack and avoiding precision decline due to remaining time estimation error. At the same time, stability can be maintained, and the guidance command ensures that Zeno behavior does not occur, which refers to triggering an infinite number of events within a limited time interval.

[0039] In order to realize event triggering, after the design of the step 3 guidance command is completed, the step 4 is entered, and an event triggering mechanism is designed according to the consistency error of the remaining flight distance and the consistency error of the radial relative speed, which specifically includes:

[0040] In step 401, the triggering error is constructed according to the consistency error of the remaining flight distance, the consistency error of the radial relative speed and the speed tracking error

[0041] Wherein, Θ ri (t) is the triggering error between the latest triggering state and the current state of the i-th missile.

[0042] In step 402, an event triggering mechanism is designed according to the speed tracking error and the triggering error Wherein, η r is a constant, and satisfies 0 < η r < 1.

[0043] By using this configuration method, the triggering error is constructed for realizing event triggering, and when the triggering error is greater than the set threshold, the guidance command update condition is triggered, and the update of the guidance command is realized. By designing a suitable event triggering mechanism, the update frequency of the cooperative guidance command can be significantly reduced before the triggering condition is met, the stability of the guidance system is guaranteed, and the method can be applied to the maneuvering target environment. Before the triggering condition is met, the cooperative guidance command will not be updated. When the triggering condition is not met, the missile will apply zero-order holder (ZOH) to maintain the continuity of the guidance command. Therefore, the event triggering guidance scheme can reduce the update frequency of the guidance command and the consumption of the missile-borne resources. The limited resources of the multi-missile system are saved, and good guidance performance is guaranteed,

[0044] After the step 4 is completed, in order to realize simultaneous attack of multiple missiles, the step 5 is entered, and the i-th missile updates the guidance command a Mri (t) at the triggering time sequence by using the triggering mechanism, and realizes the simultaneous attack cooperative guidance.

[0045] According to one specific embodiment of the present application, as Figure 2The time triggered guidance scheme is represented by "TT", and the event triggered guidance scheme is represented by "ET". M1 represents missile 1, M2 represents missile 2, M3 represents missile 3, and M4 represents missile 4. The flight time of the missiles in the scenario is 13.766s, the simulation step is selected as 0.001s, and the number of updates of the time triggered guidance is 13766. The event triggered guidance scheme provided by the application can reduce the number of triggers by more than 65% to 4800 times (for example, the number of triggers of missile 4). Therefore, the event triggered cooperative guidance scheme can greatly reduce the update frequency of the guidance command.

[0046] In order to have a further understanding of the application, the following Figures 1 to 2 An event triggered cooperative guidance method for simultaneous attack along the line of sight is described in detail, wherein Figure 1 Ts in the formula is a guidance period.

[0047] Step 1, constructing a consistency error of the remaining flight distance Wherein, Γ i (t) is a consistency error of the remaining flight distance of the i-th missile, i is a positive integer, j is a positive integer, i∈[1,N], j∈[1,N], N is the total number of missiles, r i (t) is a relative distance between the i-th missile and the target, r j (t) is a relative distance between the j-th missile and the target, a ij =1 when the missiles can detect each other, otherwise a ij =0, and t is the current time.

[0048] Step 2, constructing a consistency error of the radial relative velocity Wherein, Λ i (t) is a consistency error of the radial relative velocity of the i-th missile, v ri (t) is a radial relative velocity of the i-th missile, v rj (t) is a radial relative velocity of the j-th missile.

[0049] Step 3, designing a guidance command along the line of sight according to the consistency error of the remaining flight distance and the consistency error of the radial relative velocity, specifically including:

[0050] Step 301, constructing an expected consistency radial relative velocity according to the consistency error of the remaining flight distance Wherein, is an expected consistency radial relative velocity of the i-th missile, α r1 , α r2 , and μ r are all normal numbers, b r , and c rare two positive odd numbers satisfying b r / c r > 2, is the average value of the initial radial relative velocity.

[0051] Step 302, constructing a velocity tracking error e where e vri (t) is the velocity tracking error of the i-th missile.

[0052] Step 303, designing a line-of-sight direction guidance command q

[0053]

[0054] where a Mri (t) is the line-of-sight direction guidance command of the i-th missile, q εi (t) is the line-of-sight angle of the i-th missile in the elevation direction, qβ i (t) is the line-of-sight angle of the i-th missile in the azimuth direction, a r3 , a r4 are all normal numbers, and Γ i (t) is the consistency error of the remaining flight distance of the i-th missile, is the trigger time closest to the current time of the i-th missile, and is the next trigger time of , p r and g r are two positive odd numbers satisfying p r / g r > 1.

[0055] Step 4, designing an event trigger mechanism according to the consistency error of the remaining flight distance and the consistency error of the radial relative velocity, specifically comprising:

[0056] Step 401, constructing a trigger error e

[0057] where Θ ri (t) is the trigger error between the latest trigger state and the current state of the i-th missile.

[0058] Step 402, designing an event trigger mechanism according to the velocity tracking error and the trigger error where η r is a constant, and satisfies 0 < η r<1.

[0059] Step 5, the i th missile updates the guidance command a on the trigger time sequence using the trigger mechanism Mri (t), achieving simultaneous attack cooperative guidance.

[0060] Using the guidance method of the present application, the current radial relative velocity v ri (t) can reach a virtual uniform radial relative velocity The following will be described in detail.

[0061] Using the above cooperative guidance method, the velocity tracking error e vri (t) is the first derivative of the time

[0062]

[0063] wherein, is the nonlinear term of the i th missile along the line-of-sight direction, is the uncertain disturbance of the i th missile along the line-of-sight direction, the nonlinear term and the uncertain disturbance of the i th missile along the line-of-sight direction are bounded, that is, is a non-negative constant.

[0064] According to the Lyapunov alternative function and the trigger mechanism of the present application,

[0065]

[0066] wherein, V r1 (t) is a Lyapunov alternative function for proving that the current radial relative velocity v ri (t) can reach a virtual uniform radial relative velocity in a fixed time, ζ r is a normal number, the minimum value of ζ r is ζ * , ζ * =x * (1-tanhx * ), x * satisfies

[0067] Therefore, the tracking error of the radial relative velocity can converge to a small area near zero in a fixed time, that is,

[0068] |e vri (t)|≤τ r , wherein, κ r ∈(0, 1) is a constant.

[0069] and e vri Convergence time T of (t) r1 satisfies

[0070] In summary, by using the guidance method of the present application, the current radial relative velocity v ri (t) can reach the virtual consistent radial relative velocity

[0071] Further, the consistency error Γ i (t) of the remaining flight distance can converge in a fixed time.

[0072] According to the Lyapunov alternative function, the following can be obtained

[0073]

[0074] where V r2 is the Lyapunov alternative function used to prove that the consistency error Γ i (t) of the remaining flight distance can converge in a fixed time, where Γ(t) = [Γ1(t) Γ2(t),... Γ i (t),... Γ N (t)] T .

[0075] A missile group with N missiles can be mathematically described as G = (V, E), where V = {1, 2,..., N} is a vertex set related to missile members, and E is an edge set related to communication links. The edge between vertex V i and vertex V j is represented as (V j , V i ) ∈ E, which means that the i-th missile can obtain information of the j-th missile. The degree of freedom of vertex V i is represented as d i , which is defined as the number of neighbors of the missile V i . The degree matrix of the graph G is represented as

[0076] D = diag{d i}(i ∈ [1, 2,..., N]). The Laplacian matrix L of the graph G is defined as For a connected undirected graph, the Laplacian matrix L is symmetric and semi-positive definite. The eigenvalues of L corresponding to the connected undirected graph G are 0, λ2,..., λ N and satisfy 0 < λ2≤... ≤ λ N .​ The smallest eigenvalue is zero and the corresponding eigenvector is 1 = [1, 1, ..., 1]. T Laplace matrix The second smallest eigenvalue λ2 is greater than zero, i.e., λ2>0, which can be regarded as an index for evaluating the connectivity of graph G.

[0077] The following set can be obtained.

[0078]

[0079] Where Γ i The convergence time T of (t) r2 satisfy

[0080]

[0081] Therefore, the practical consistency of the remaining flight distance can be achieved within a fixed time, and the total convergence time bounded by T. r satisfy

[0082]

[0083] The technical solution of this invention designs a cooperative guidance method to make the remaining flight distance and radial relative velocity consistent. The remaining flight distance and the relative velocity in the line-of-sight direction (radial relative velocity) are used as coordination variables. Multiple missiles coordinate their remaining flight time to achieve simultaneous hits on the target, avoiding the decrease in the accuracy of time coordination due to the error in the remaining time estimation. The guidance law and triggering mechanism are used to achieve the target of time-coordinated guidance (i.e., simultaneous attack) within a fixed time.

[0084] In practical applications, the remaining flight distance of multiple missiles is not strictly zero at the target collision point, and the consistency error of the coordination variables does not need to be strictly zero. This invention provides different initial values ​​of the remaining flight distance r(0) and the initial value of the radial relative velocity. The objective of time-coordinated guidance is defined as follows: for any two missiles i and j, satisfy... Where δ r1 and δ r2 It is a sufficiently small positive constant. The above guidance target is a practical time-coordinated guidance system with a convergence time T. r satisfy T max It is a positive constant, and we can obtain

[0085] That is, v ri (t) can enter a In the nearby area.

[0086] The following indicates that Zeno behavior does not exist. Based on the definition of the consistency error of remaining flight distance Γi (t), we can obtain

[0087] Λ i The modulus of (t) satisfies

[0088]

[0089] λ N for The largest eigenvalue, l ii for The diagonal element of the i-th row, e vrj (t) represents the velocity tracking error of the j-th missile, Γ j (t) represents the consistency error of the remaining flight distance of the j-th missile, V r1 (0) is V r1 The initial value of V(t), r2 (0) is V r2 The initial value of (t). Based on the trigger error Θ ri The definition of (t) can be obtained

[0090]

[0091]

[0092]

[0093]

[0094]

[0095] Where D+(·) is the right derivative, we can obtain Among them, a Mrj (t) represents the commanded acceleration of the j-th missile along the line-of-sight direction. It is the closest trigger time of the j-th missile to the current time, l ij for The element in the i-th row and j-th column.

[0096] based on have

[0097] use And the triggering mechanism, can be obtained

[0098]

[0099] Further

[0100] in, yes The maximum of the inequality The strict positive bound on the inter-event interval is represented by the inequality

[0101] In summary, the application proposes an event-triggered simultaneous attack cooperative guidance method along the line of sight. An event-triggered robust nonlinear cooperative guidance law along the line of sight is designed, which can guide multiple missiles to achieve simultaneous attack with fixed time convergence. The remaining distance and the speed along the line of sight (LOS) are taken as variables for time cooperative guidance to achieve strict simultaneous attack, avoiding the decline in accuracy due to the error in the estimation of the remaining time, while maintaining stability. By constructing an event-triggered robust cooperative guidance method, the event-triggered guidance scheme can reduce the update frequency of the cooperative guidance command and reduce the computational burden. Before reaching the trigger condition, the cooperative guidance command will not be updated, and the missile will apply zero-order holder (ZOH) to maintain the continuity of the guidance command. Compared with the time-triggered guidance law that is constantly updated, the required computation is less, thereby reducing the computational cost, reducing the update frequency of the guidance command and the consumption of the missile-borne resources, saving the limited resources of the multi-missile system, while ensuring good guidance performance.

Claims

1. An event-triggered simultaneous attack cooperative guidance method in a line-of-sight direction, characterized by, The method comprises the following steps: Step 1: constructing a consistency error of the remaining flight distance; Step 2: constructing a consistency error of the radial relative velocity; Step 3: designing a guidance command along the line-of-sight direction according to the consistency error of the remaining flight distance and the consistency error of the radial relative velocity; Step 4: designing an event trigger mechanism according to the consistency error of the remaining flight distance and the consistency error of the radial relative velocity; Step 5: updating the guidance command on a trigger time sequence according to the event trigger mechanism to realize simultaneous attack cooperative guidance along the line-of-sight direction; wherein, in step one, the consistency error of the remaining flight distance wherein, i is a positive integer, j is a positive integer, i∈[1, N], j∈[1, N], N is the total number of missiles, r j (t) is the relative distance between the jth missile and the target, a ij =1 when the missiles can detect each other, otherwise a ij =0; In step two, the consistency error of the radial relative velocity v ri (t) is the radial relative velocity of the i-th missile, v rj (t) is the radial relative velocity of the j-th missile; In step 3, specifically: 3.1 constructing an expected consistency radial relative velocity according to the consistency error of the remaining flight distance; 3.2 constructing a velocity tracking error according to the expected consistency radial relative velocity; the velocity tracking error is: 3.3 designing a guidance command along the line-of-sight direction according to the consistency error of the remaining flight distance, the consistency error of the radial relative velocity and the velocity tracking error; the guidance command along the line-of-sight direction is: wherein a Mri (t) is the guidance command of the i-th missile along the line-of-sight direction, r i (t) is the relative distance between the i-th missile and the target, q εi (t) is the line-of-sight angle of the i-th missile along the line-of-sight elevation direction, q βi (t) is the line-of-sight angle of the i-th missile along the line-of-sight azimuth direction, a r1 , a r2 , a r3 , a r4 and m r are normal numbers, b r and c r are two positive odd numbers satisfying b r / c r > 2, G i (t) is the consistency error of the remaining flight distance of the i-th missile, t is the current time, is the nearest trigger time of the i-th missile from the current time, and is the next trigger time of , A i (t) is the consistency error of the radial relative velocity of the i-th missile, e vri (t) is the radial velocity tracking error of the i-th missile, p r and g r are two positive odd numbers satisfying p r / g r > 1.

2. The method of event-triggered simultaneous attack cooperative guidance in line-of-sight direction according to claim 1, characterized in that: In step 3.1, the desired consistent radial relative velocity is a constant for the i-th missile. is a constant.

3. The method of event-triggered simultaneous attack cooperative guidance in line-of-sight direction according to claim 1, characterized in that: In step 4, specifically comprising: 4.1 constructing a trigger error according to the consistency error of the remaining flight distance, the consistency error of the radial relative velocity and the radial velocity tracking error; 4.2 designing an event trigger mechanism according to the velocity tracking error and the trigger error.

4. The method of event-triggered simultaneous attack cooperative guidance in line-of-sight direction according to claim 3, characterized in that: In step 4.1, the trigger error is: where Θ ri (t) is the trigger error between the most recent trigger state and the current state of the i-th missile.

5. The method of event-triggered simultaneous attack cooperative guidance in line-of-sight direction according to claim 4, characterized in that: In step 4.2, the triggering mechanism is: η r is a constant and satisfies 0 < η r < 1.

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